Profile and Publications


Thesis

Thesis for a Master Degree
  • 坂井敦,「自己位置推定のための識別訓練法を用いたパラメータ学習」,2011年,2月                                     [Paper][Presentation]

Thesis for a Bachelor Degree
  • 坂井敦,「動的屋外環境下における SLAM のロバストなランドマーク推定法に関する研究」,2009年,1月 [Paper][Presentation]


Publications

Journals (English)
  1. Atsushi Sakai, Yoji Kuroda, "Discriminatively Trained Unscented Kalman Filter for Mobile Robot Localization", Journal of Advanced Research in Mechanical Engineering, Volume 1, Issue No 3,  pp 153-161, June 2010. (Peer-reviewed) [Paper]
  2. Atsushi Sakai, Teppei Saitoh, Yoji Kuroda,"Robust Landmark Estimation and Unscented Particle Sampling for SLAM in Dynamic Outdoor Environment", Special Issue on Selected Papers from ROBOMEC'09 (I), Journal of Robotics and Mechatronics, Vol.22 No.2,  pp. 140-149, April, 2010. (Peer-reviewed) [PaperLink]
  3. Yoji Kuroda, Atsushi Sakai, Yuya Tamura, "6DOF Localization Using Unscented Kalman Filter for Planetary Rovers", Advanced Robotics Volume 24, Numbers 8-9, pp. 1199-1218(20), Issue containing section focused on Advanced Space Robotics, June, 2010. (Peer-reviewed) [PaperLink]
Proceedings (English)
  1. Atsushi Sakai, Masahito Mitsuhashi, Yoji Kuroda, "Noise Model Creation for Visual Odometry with Neural-Fuzzy Model", 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010), Taipei International Convention Center, Taipei, Taiwan, October 18-22, 2010. (Peer-reviewed)[Presentation]
  2. Atsushi Sakai, Yoji Kuroda, "Discriminative Parameter Training of Unscented Kalman Filter", The 5th IFAC Symposium on Mechatronic Systems (IFAC2010), Cambridge, Massachusetts, U.S.A, September 13-15, 2010. (Peer-reviewed)[Paper][Presentation]
  3. Atsushi Sakai, Yuya Tamura, Yoji Kuroda, ”Visual Odometry Using Feature Point and Ground Plane for Urban Environments”, 41th International Symposium on Robotics (ISR2010), Munich, Germany, June, 2010.  (Peer-reviewed)[Paper][Presentation]
  4. Atsushi Sakai, Yuya Tamura, Yoji Kuroda, "An Efficient Solution to 6DOF Localization Using Unscented Kalman Filter for Planetary Rovers", in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS09), St Louis, MO, USA, Oct, 2009. (Peer-reviewed)(Awarded NSF Grant: GRASSROOTS)[Paperlink][Presentation
  5. Atsushi Sakai, Yuya Tamura, Yoji Kuroda, "6DOF Localization Using Unscented Kalman Filter for Planetary Rovers", The Fourth International Symposium on Mechanics, Aerospace and Informatics Engineering 2009 (ISMAI-4), Korea, Sept. 2009. [Paper][Presentation]
  6. Atsushi Sakai, Teppei Saitoh, Yoji Kuroda "Robust Landmark Estimation for SLAM in Dynamic Outdoor Environment", The Third International Symposium on Mechanics, Aerospace and Informatics Engineering 2009 (ISMAI-3), pp.292-297, Tokyo, Japan, Feb. 2009.        (Best Presentation Award)[Paper][Poster]
  7. Masahito Mitsuhashi, Atsushi Sakai, Yoji Kuroda, "Mobile Robot Localization in Outdoor Environments with Similar Scenes using Place Recognition", The Fifth International
    Symposium on Mechanics, Aerospace and Informatics Engineering 2010 (ISMAI-5), Feb. 2010.

  8. Yuto Fujii, Atsushi Sakai, Yoji Kuroda, "Efficient Parameter Determination Method of Divided Difference Filter for Mobile Robot Localization", The Fifth International Symposium on Mechanics, Aerospace and Informatics Engineering 2010 (ISMAI-5), Feb. 2010. 
  9. Masahito Mitsuhashi, Atsushi Sakai, Yoji Kuroda, "Mobile Robot Localization using Appearance Based Place Recognition", The 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO2010), Tianjin, China,  December 14-18, 2010. (Peer-reviewed)
  10. Yuto Fujii, Atsushi Sakai, Yoji Kuroda, "Discriminative Parameter Determination of Divided Difference Filter for Mobile Robot Localization", The 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO2010), Tianjin, China,  December 14-18, 2010. (Peer-reviewed)
  11. Akira Ishii, Atsushi Sakai, Masahito Mitsuhashi, Yoji Kuroda, "Correcting Angle of Visual Odometry System by Fusing Monocular and Stereo Methods in Untextured Dynamic Environment", The 10th International Symposium on Communications and Information Technologies 2010 ( ISCIT 2010 ), Tokyo, Japan, October 26-29, 2010.(Peer-reviewed)
  12. Akira Ishii, Atsushi Sakai, Masahito Mitsuhashi, Yoji Kuroda, "Integrated Visual Odometry System with Three Kind of Stereo and Monocular Methods in Untextured Dynamic Environment", The 5th IFAC Symposium on Mechatronic Systems, Boston (IFAC2010), U.S.A, 13-15 September, 2010. (Peer-reviewed)
  13. Yuya Tamura, Atsushi Sakai, Yoji Kuroda, “Visual Odometry using Ground Plane in Dynamic Untextured Environment”, Sixteenth Korea-Japan Joint Workshop on Frontiers of Computer Vision (FCV2010), pp.159-164, Hiroshima, Japan, Feb.2010. (Peer-reviewed)
Proceedings (Japanese)
  1. 坂井敦斉藤哲平,黒田洋司, 「動的環境下におけるSLAMのロバストなランドマーク推定法に関する研究」, 第14回 ロボティクス・シンポジア,北海道 , 2009年3月.  (Peer-reviewed) [Paper][Presentation]
  2. 坂井敦,黒田洋司,「Unscented Kalman Filter における識別訓練法を用いたパラメータ学習」,ロボティクス・メカトロニクス講演会2010,北海道旭川,2010年,6月     [Paper][Poster]
  3. 坂井敦斉藤哲平,黒田洋司, 「FastSLAM アルゴリズムにおける Unscented 変換を利用したサンプリング手法」, ロボティクス・メカトロニクス講演会2009(ROBOMEC 2009 in FUKUOKA), 福岡, 5月, 2009. [Paper][Poster]
  4. 坂井敦,田村侑也,黒田洋司, 「月・惑星探査ローバ
    における自己位置推定システム」, 19th JAXA Workshop on Astrodynamics and Flight Mechanics, ISAS/JAXA, 神奈川, 7月, 2009. [Paper][Presentation]
  5. 高橋佑弥,坂井敦,三橋雅仁,黒田洋司, 「月・惑星探査ローバにおける地表画像を用いたスリップ率推定」,"日本機械学会関東学生会第 50 回学生員卒業研究発表講演会, 2011年2月.
  6. 三橋雅仁,坂井敦,黒田洋司, "類似物体の多い環境下における画像場所認識に基づくロバストな自己位置推定法", 第28回日本ロボット学会学術講演会, 名古屋, 2010, 9月.
  7. 藤井悠人, 坂井敦, 黒田洋司, "DDF を用いた自己位置推定における識別訓練法を用いた最適パラメータの決定法", 第28回日本ロボット学会学術講演会, 名古屋, 2010, 9月.
  8. 三橋雅仁,坂井敦,黒田洋司, 「Bag-of-Words 表現を用いた画像情報による自己位置認識法」, ロボティクス・メカトロニクス講演会2010,  北海道 旭川,2010年,6月.
  9. 石井朗,坂井敦,三橋雅仁,黒田洋司, 「ステレオと単眼を用いた屋外動的低特徴環境における高精度ビジュアル
    オドメトリシステム」,
    ロボティクス・メカトロニクス講演会2010,  北海道 旭川,2010年,6月.
  10. ⿊⽥洋司,斎藤哲平,三瓶元寛,鶴⽥⽞太郎,坂井敦,鈴⽊正隆,⽯井朗,寺⽥英介,三橋雅仁,「都市環境における⾃律ナビゲーションシステム」,第15回 ロボティクス・シンポジア,奈良県吉野山,2010年 3月,            (Peer-reviewed)
  11. 三橋雅仁,坂井敦,田村侑也,黒田洋司,「SURF 特徴量を用いた画像データベースによる大域的自己位置推法」,日本機械学会関東学生会第 49 回学生員卒業研究発表講演会神奈川, 2010年 3 月.(Best Presentation Award
  12. 西川佑輝,坂井敦,黒田洋司,「移動ロボットによるレーザを用いた移動障害物検出」,日本機械学会関東学生会第 49 回学生員卒業研究発表講演会神奈川,2010年 3 月.
  13. 藤井悠人,斉藤哲平,坂井敦,黒田洋司,「Graph SLAMを用いた最適経路生成に関する研究」,日本機械学会関東学生会第 49 回学生員卒業研究発表講演会神奈川, 2010年 3 月.(Best Presentation Award
  14. 黒田洋司,斉藤哲平,三瓶元寛,鶴田玄太郎,坂井敦,鈴木正隆,石井朗,寺田英介,三橋雅仁,「都市環境内における自律走行システムに関する研究」,第10回計測自動制御学会システムインテグレーション部門講演会 (SI2009),横浜,12月,2009年.
  15. 斉藤哲平,坂井敦 ,黒田洋司,「走行経路生成のための単一レーザスキャナを用いた道路境界推定」,第 27回日本ロボット学会学術講演会,神奈川,2009年 9月 .
  16. 田村侑也,鈴木正隆,坂井敦,  黒田洋司,「屋外環境におけるステレオカメラを用いた6自由度ビジュアルオドメトリ」,日本機械学会ロボティクス・メカトロニクス講演会2009(ROBOMEC 2009 in FUKUOKA), 福岡, 5月, 2009年.
  17. 斉藤哲平,三瓶元寛,坂井,田中智史,黒田洋司,「動的環境下におけるSLAMとそれに基づく自律ナビゲーション法に関する研究」,第9回計測自動制御学会システムインテグレーション部門講演会 (SI2008),岐阜市長良福光,2008年,12月,
Research Reports
  1. 坂井敦 ,黒田洋司,移動ロボットの自己位置推定のための識別訓練法を用いたUnscented Kalman Filterのパラメータ学習」,明治大学理工学部研究報告 No.44, April, 2011. (Peer-reviewed)
  2. 坂井敦 ,黒田洋司, 「惑星探査ローバのためのUnscented Kalman Filterを使用した 6 自由度自己位置推定システム 」,明治大学理工学部研究報告 No.44, April, 2011. (Peer-reviewed)
  3. 坂井敦斉藤哲平,黒田洋司, 「動的環境下におけるSLAMのロバストなランドマーク推定法に関する研究」,明治大学理工学部研究報告 No.41, Sep., 2009.        (Peer-reviewed)


Other Materials

Sample Codes for Mobile Robot Localization
  1. Wheel Odometry Localization Sample Program (Download)  : This program can be used in a differential wheel robot, and uses ROS (link) and Python. The input data is pulse observations of both right and left wheel encoders, and the output is forward velocity(v), yawrate (ω), the robot's 2D position (x,y), and yaw (θ). This program is very simple, so you can understand it to read its code.
  2. Fake Localization Program (Download): This program outputs several types of pseudo sensor data to implement filtering algorithm for mobile robot localization, and  uses ROS (link) and Python. The output is Ground Truth data and input data as wheel odometry observation (forward velocity(v) and yawrate (ω)), and observation data (global 2D position (x,y) as GPS observation, and global yaw (θ) as electrical compass observation).

Presentation Materials (Japanese)
  1. 坂井敦,「大学院進学を勧める3つの理由と勧めない3つの理由」,大学院進学説明会@明治大学生田キャンパス for 学部三年生, 2010/10/9.[Presentation]    
  2. 坂井敦,"6DOF Localization Using Vision Sensor in Urban Environment",研究室内プレゼン,2009/12/7. [Presentation]                  
  3. 坂井敦,"Learning Control Model with Neural Network", inロボット工学特論, 2009/06/15. [Presentation][Movie 1: Learning Result][Movie 2: Mini robot with a short arm]





Profile

Name: Atsushi Sakai

Sexuality: Male

Nationality: Japan

Occupation: Graduate student


Major: Mechanical engineering

Research Topic:
  • Mobile robot localization
  • Simultaneous Localization and Mapping (SLAM)
  • Vision Localization System
  • Probabilistic Approach
  • Machine Learning
  • Optimization Method for Localization
  • etc. 
Academic Societies

Total Page Count Process of 
 
                           Master Thesis.



Tools, Books, and Sites

  • Google Scholar: Search engine to look for papers that one want

    Google Scholar

 


  • Wikipedia: Online encyclopedia

Wikipedia

The gadget spec URL could not be found
 
  •  ROS.org: [Japanese][English

    "ROS is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management. " By ROS.org Homepage.

  • International Planetary Rover Efforts                  Prepared by Mark Maimone [Link]

          This page is a very informative homepage about Planetary Rovers.
          This page provides great SLAM simulators on MATLAB: EKF SLAM,
          FastSLAM, and UKF SLAM.
 
  • Probabilistic Robotics:                          
        Amazon Link (click the images):
Japanese Book
English Book

          This book is a very informative and comprehensive beginners book for
          mobile robot researchers. In particular, the topics of this book are
          probabilistic methods for mobile robot navigation (e.g., Kalman filters  
          and particle filters for localization,  Simultaneous Localization And    
          Mapping [SLAM]), grid map for mapping, exploration, and so on.

          Web site of the book[Link]
          The site of the book is also very informative. It has many technical slides
          which explain elementary technical issues (e.g., Probabilistic approach,
          Motion planning and control, SLAM, etc). 

  •  Table: Chi-Square Probabilities [Link]
          This web page shows Chi-Square Probabilities for Chi-square test.

  • Home page of Robot Programming Class at Stanford University. [Link]
           "This course covers the basics of mobile robot control and sensing from
            an Artificial Intelligence perspective. Topics include behavioral control,
            reactive architectures, sensor interpretation, world modeling, and                       navigation. Various theories used in mobile robot systems will be                       presented, and students will apply these theories in a set of project
            exercises on a real mobile robot, oriented towards understanding the
            complexities of robot activity in real-world situations. "

 

Visited Place for Conference

Site Policy

  • In this page, papers are opened to the public according to regulations of each academic society.

  • This page is run for all beginners of mobile robot localization researchers.

  • If you have a question about my research, feel free to ask me by email (asakai.amsl at gmail.com).


Subpages (1): Abstruct and Keywords 1